SELECT 
  * 
FROM 
  cscart_menus 
  LEFT JOIN cscart_menus_descriptions ON cscart_menus.menu_id = cscart_menus_descriptions.menu_id 
WHERE 
  cscart_menus_descriptions.lang_code = 'en' 
  AND cscart_menus.company_id = 1 
  AND cscart_menus.menu_id = 7 
  AND cscart_menus.company_id = 1

Query time 0.00013

JSON explain

{
  "query_block": {
    "select_id": 1,
    "nested_loop": [
      {
        "table": {
          "table_name": "cscart_menus",
          "access_type": "const",
          "possible_keys": ["PRIMARY"],
          "key": "PRIMARY",
          "key_length": "3",
          "used_key_parts": ["menu_id"],
          "ref": ["const"],
          "rows": 1,
          "filtered": 100
        }
      },
      {
        "table": {
          "table_name": "cscart_menus_descriptions",
          "access_type": "const",
          "possible_keys": ["PRIMARY"],
          "key": "PRIMARY",
          "key_length": "9",
          "used_key_parts": ["menu_id", "lang_code"],
          "ref": ["const", "const"],
          "rows": 1,
          "filtered": 100
        }
      }
    ]
  }
}